From cma189@psu.edu Wed Apr 8 17:23:51 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 90A27C827A for ; Wed, 8 Apr 2009 17:23:51 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id V9p1xNqW0uEf for ; Wed, 8 Apr 2009 17:23:50 -0700 (PDT) X-Greylist: delayed 17126 seconds by postgrey-1.31 at mercury; Wed, 08 Apr 2009 17:23:49 PDT Received: from f04n07.cac.psu.edu (f04s07.cac.psu.edu [128.118.141.35]) by mercury.localdomain (Postfix) with ESMTP id F2168C8275 for ; Wed, 8 Apr 2009 17:23:49 -0700 (PDT) Received: from tr21n04.aset.psu.edu (tr21g04.aset.psu.edu [128.118.146.154]) by f04n07.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n38Jdaxp075856 for ; Wed, 8 Apr 2009 15:39:36 -0400 Received: (from cma189@localhost) by tr21n04.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n38JdZrd299110; Wed, 8 Apr 2009 15:39:35 -0400 Date: Wed, 8 Apr 2009 15:39:35 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 128.118.187.6 Message-Id: <1239219575l.643112l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 00:23:52 -0000 Hello, Has anyone had luck using the sample code posted on the nubotics website. I cant seem to get it to work. I also tried to port to PIC18 with no luck. Any suggestion welcome. Curt From plskeggs@noeticdesign.com Wed Apr 8 17:24:57 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 4246AC827A for ; Wed, 8 Apr 2009 17:24:57 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id zCvD3WXw08ri for ; Wed, 8 Apr 2009 17:24:55 -0700 (PDT) Received: from [192.168.0.6] (titan.noeticdesign.com [192.168.0.6]) by mercury.localdomain (Postfix) with ESMTP id 3437AC8275 for ; Wed, 8 Apr 2009 17:24:53 -0700 (PDT) Message-ID: <49DD40A4.9080406@noeticdesign.com> Date: Wed, 08 Apr 2009 17:26:12 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239219575l.643112l.0l@psu.edu> In-Reply-To: <1239219575l.643112l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 00:24:57 -0000 Which sample programs have you had trouble with? -Pete CURTIS M ARMER wrote: > Hello, > Has anyone had luck using the sample code posted on the nubotics website. I > cant seem to get it to work. I also tried to port to PIC18 with no luck. Any > suggestion welcome. > > Curt > > > > _______________________________________________ > WheelWatcher mailing list > WheelWatcher@list.nubotics.com > http://list.nubotics.com/mailman/listinfo/wheelwatcher > From cma189@psu.edu Wed Apr 8 18:24:29 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 7D8B9C827A for ; Wed, 8 Apr 2009 18:24:29 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id po9C3+agOLeQ for ; Wed, 8 Apr 2009 18:24:28 -0700 (PDT) Received: from f04n01.cac.psu.edu (f04s01.cac.psu.edu [128.118.141.31]) by mercury.localdomain (Postfix) with ESMTP id 1CBA6C8275 for ; Wed, 8 Apr 2009 18:24:27 -0700 (PDT) Received: from tr21n02.aset.psu.edu (tr21g02.aset.psu.edu [128.118.146.152]) by f04n01.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n391Pgkm080026 for ; Wed, 8 Apr 2009 21:25:42 -0400 Received: (from cma189@localhost) by tr21n02.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n391Pfwd696404; Wed, 8 Apr 2009 21:25:41 -0400 Date: Wed, 8 Apr 2009 21:25:41 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 98.235.147.47 Message-Id: <1239240341l.725110l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 01:24:29 -0000 Pete, Please let me know if I am posting correctly in this forum becasue I am not sure. I am having problems with the "* " for CCS. I am using just a standard PIC16F877 and using parallax continous rotation servos. I am able to go through the encoder test and when I manually turn the wheels I see positions change. Then I hit enter to see the individual wheels turn but nothing turns. If I comment out the #define LEFT_CLK_ON_TIMER_1 the wheels just turn constantly. On the PIC itself B1 and B2 go directly to the servos B4 and B5 are connected to the dir lines of encoder, C0 left servo clk A4 right servo clk. Does B1 and B2 need to be connected to C2 and C1 respectively? Thanks Curt From plskeggs@noeticdesign.com Wed Apr 8 20:52:35 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id AA19FC827A for ; Wed, 8 Apr 2009 20:52:35 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id 3EgP2ysxlvrR for ; Wed, 8 Apr 2009 20:52:34 -0700 (PDT) Received: from [192.168.2.19] (home.noeticdesign.com [66.78.76.138]) (using TLSv1 with cipher DHE-RSA-AES256-SHA (256/256 bits)) (No client certificate requested) by mercury.localdomain (Postfix) with ESMTPSA id 217B3C81B7 for ; Wed, 8 Apr 2009 20:52:33 -0700 (PDT) Message-ID: <49DD714C.3030301@noeticdesign.com> Date: Wed, 08 Apr 2009 20:53:48 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239240341l.725110l.0l@psu.edu> In-Reply-To: <1239240341l.725110l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 03:52:35 -0000 CURTIS M ARMER wrote: > Please let me know if I am posting correctly in this forum becasue I am not > sure. > Yes, you are. > I am having problems with the > "* " > for CCS. What version of CCS are you using? > I am using just a standard PIC16F877 and using parallax continous > rotation servos. OK. Please post the parts of the example that you changed -- the #defines at the start, plus any other sections you may have edited. You at least needed to have uncommented the line that says: //#define RC_SERVO_MODE 1 so it looks like this: #define RC_SERVO_MODE 1 > I am able to go through the encoder test and when I manually > turn the wheels I see positions change. Good. > Then I hit enter to see the individual > wheels turn but nothing turns. If I comment out the #define > LEFT_CLK_ON_TIMER_1 the wheels just turn constantly. > On the PIC itself B1 and B2 go directly to the servos Did you make any changes to ww01_picc_square.h in the #defines affecting hardware? Or are they the defaults? > B4 and B5 are connected to the dir lines of encoder, OK. > C0 left servo clk A4 right servo clk. OK. > Does B1 and B2 need to be connected to C2 and C1 respectively? > No. -Pete From cma189@psu.edu Thu Apr 9 05:40:33 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 5B18310001 for ; Thu, 9 Apr 2009 05:40:33 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id bn9+6y295sMC for ; Thu, 9 Apr 2009 05:40:32 -0700 (PDT) Received: from f05n03.cac.psu.edu (f05s03.cac.psu.edu [128.118.141.46]) by mercury.localdomain (Postfix) with ESMTP id DB37AC8275 for ; Thu, 9 Apr 2009 05:40:30 -0700 (PDT) Received: from tr22n02.aset.psu.edu (tr22g02.aset.psu.edu [146.186.16.12]) by f05n03.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n39CfhjK247366 for ; Thu, 9 Apr 2009 08:41:44 -0400 Received: (from cma189@localhost) by tr22n02.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n39CfhOE950300; Thu, 9 Apr 2009 08:41:43 -0400 Date: Thu, 9 Apr 2009 08:41:43 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 128.118.230.57 Message-Id: <1239280903l.892970l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 12:40:33 -0000 Pete, My CCS compiler version is 4.068 #define DEBUG_SNS 1 #define DEBUG_STAT 1 #define RC_SERVO_MODE 1 #ifdef RC_SERVO_MODE #define ZERO_SERVOS 1 #endif //#define MARKIII_SENSOR_BOARD_HBRIDGE_MODE 1 #define LEFT_CLK_ON_TIMER_1 1 //#define NESTED_LOOPS 1 #define ENCODER_TEST 1 // use this to verify that your encoders are working #define MOTOR_TEST 1 // use this to verify that your motors or servos are wired right, and spin the right way #define SPEED_TEST 1 // use this to test velocity control #define POSITION_TEST 1 // use this to test position control #ifdef ENCODER_TEST #ifndef DEBUG_SNS #define DEBUG_SNS 1 // this must be on for encoder test #endif #endif I did modify the first couple lines of void setup() to get motor directions correct. As shown below. lw = &lwheel; // lwheel.high_fwd_dir = FALSE; lwheel.pos_fwd_pw = TRUE; rw = &rwheel; rwheel.pos_fwd_pw = FALSE; // rwheel.high_fwd_dir = TRUE; The lines that are commented out were added so I could get the directions correctly. If I leave them commented out I still have same problem. This is all I have changed. My main goal is to get this working of a 18F4520 since it has more memory and internal oscillator so I am just trying to make sure it working before that. Thanks again From plskeggs@noeticdesign.com Thu Apr 9 08:33:43 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id B2D19C82EE for ; Thu, 9 Apr 2009 08:33:43 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id jVoU+sCX70nu for ; Thu, 9 Apr 2009 08:33:42 -0700 (PDT) Received: from [192.168.2.19] (home.noeticdesign.com [66.78.76.138]) (using TLSv1 with cipher DHE-RSA-AES256-SHA (256/256 bits)) (No client certificate requested) by mercury.localdomain (Postfix) with ESMTPSA id 7212AC826C for ; Thu, 9 Apr 2009 08:33:41 -0700 (PDT) Message-ID: <49DE15A0.6020105@noeticdesign.com> Date: Thu, 09 Apr 2009 08:34:56 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239280903l.892970l.0l@psu.edu> In-Reply-To: <1239280903l.892970l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 15:33:44 -0000 CURTIS M ARMER wrote: > My CCS compiler version is 4.068 > I wrote this code with 3.234. Not sure if this matters, but could be a clue. I know when I was more actively using CCS that they seemed to have lots of trouble producing a stable version of their compiler. > #define DEBUG_SNS 1 > #define DEBUG_STAT 1 > #define RC_SERVO_MODE 1 > #ifdef RC_SERVO_MODE > #define ZERO_SERVOS 1 > #endif > //#define MARKIII_SENSOR_BOARD_HBRIDGE_MODE 1 > #define LEFT_CLK_ON_TIMER_1 1 > //#define NESTED_LOOPS 1 > #define ENCODER_TEST 1 // use this to verify that your encoders are working > #define MOTOR_TEST 1 // use this to verify that your motors or servos are > wired right, and spin the right way > #define SPEED_TEST 1 // use this to test velocity control > #define POSITION_TEST 1 // use this to test position control > #ifdef ENCODER_TEST > #ifndef DEBUG_SNS > #define DEBUG_SNS 1 // this must be on for encoder test > #endif > #endif > Those all look ok. I suggest skipping the MOTOR_TEST for now, and trying to zero the servos, then doing the speed test. > I did modify the first couple lines of void setup() to get motor directions > correct. As shown below. > > lw = &lwheel; > // lwheel.high_fwd_dir = FALSE; > lwheel.pos_fwd_pw = TRUE; > > rw = &rwheel; > rwheel.pos_fwd_pw = FALSE; > // rwheel.high_fwd_dir = TRUE; > > The lines that are commented out were added so I could get the directions > correctly. If I leave them commented out I still have same problem. > They're not the problem, I'm pretty sure. > This is all I have changed. My main goal is to get this working of a 18F4520 > since it has more memory and internal oscillator so I am just trying to make > sure it working before that. Thanks again > The other variable here is how you have the system powered. You should provide an approximately 6v supply to the servos, which is usually done straight from a battery pack with a switch in series so you can turn it off. You also need to supply regulated 5v to the WW-01s, as well as to the PIC. Make sure the ground of the servo supply is connected to the ground of the PIC and WW-01 supply, especially if the supplies to the PIC and the servos are done from different sources (i.e., different battery packs). If the grounds of the two supplies are not connected, then the control pulse that the PIC is sending to the servos won't be guaranteed to be the correct logic level, so the servo may or may not respond as expected. Finally, check the fuse settings on your PIC, and the clock oscillator or resonator settings. If the clock rate is wrong, then the timing of the pulses going to the servos will be wrong; if the timing is off enough, the servos won't move. -Pete From cma189@psu.edu Thu Apr 9 09:00:38 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id C9F1DC82EE for ; Thu, 9 Apr 2009 09:00:38 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id ElHae5jAxo-E for ; Thu, 9 Apr 2009 09:00:37 -0700 (PDT) Received: from f05n03.cac.psu.edu (f05s03.cac.psu.edu [128.118.141.46]) by mercury.localdomain (Postfix) with ESMTP id 77E8AC8281 for ; Thu, 9 Apr 2009 09:00:36 -0700 (PDT) Received: from tr22n02.aset.psu.edu (tr22g02.aset.psu.edu [146.186.16.12]) by f05n03.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n39G1n19254838 for ; Thu, 9 Apr 2009 12:01:49 -0400 Received: (from cma189@localhost) by tr22n02.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n39G1nmC380946; Thu, 9 Apr 2009 12:01:49 -0400 Date: Thu, 9 Apr 2009 12:01:49 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 128.118.230.57 Message-Id: <1239292909l.979038l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 16:00:39 -0000 Pete The motors will not move for any test as long as I have the #define LEFT_CLK_ON_TIMER_1 uncommented. If I comment it out then the servos move in oppisite directions forever as soon as device is programmed. Power is not a issue, I have proper voltages and all grounds connected together. I have never used a crystal oscillator before but maybe thats where my problem is. I am getting a 20mhz sine wave from the crystal but Im not sure its supposed to be a sine or square wave. I also tried a can crystal with ttl output and that still produced sine wave. Thats another reason I tried porting to PIC18 since it has built in oscillator. Here is the code I use to set fuses: #include <16F877.h> #device ADC=8 #device *=16 #DEVICE CCSICD=TRUE #use delay(clock=20000000) #use rs232(baud=9600,parity=n,bits=8,xmit=PIN_C6,rcv=PIN_C7) #fuses HS,NOWDT,PUT,NOLVP,NOBROWNOUT Curt From plskeggs@noeticdesign.com Thu Apr 9 10:25:27 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 3E53AC82EE for ; Thu, 9 Apr 2009 10:25:27 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id h7AtPD8x8NGM for ; Thu, 9 Apr 2009 10:25:26 -0700 (PDT) Received: from [192.168.0.6] (titan.noeticdesign.com [192.168.0.6]) by mercury.localdomain (Postfix) with ESMTP id 2F389C81B8 for ; Thu, 9 Apr 2009 10:25:25 -0700 (PDT) Message-ID: <49DE2FD3.1080105@noeticdesign.com> Date: Thu, 09 Apr 2009 10:26:43 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239292909l.979038l.0l@psu.edu> In-Reply-To: <1239292909l.979038l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 17:25:27 -0000 Curt, What do the waveforms look like on the servo control pins (B1 and B2)? They should be oscillating at a 50 Hz rate (20ms period), with the high part of each square wave between 0.5 ms and 2.5ms, and then say low for the remainder of each 20ms period. -Pete CURTIS M ARMER wrote: > Pete > The motors will not move for any test as long as I have the #define > LEFT_CLK_ON_TIMER_1 uncommented. If I comment it out then the servos move in > oppisite directions forever as soon as device is programmed. > > Power is not a issue, I have proper voltages and all grounds connected > together. > > I have never used a crystal oscillator before but maybe thats where my problem > is. I am getting a 20mhz sine wave from the crystal but Im not sure its > supposed to be a sine or square wave. I also tried a can crystal with ttl > output and that still produced sine wave. Thats another reason I tried porting > to PIC18 since it has built in oscillator. > > Here is the code I use to set fuses: > #include <16F877.h> > #device ADC=8 > #device *=16 > #DEVICE CCSICD=TRUE > #use delay(clock=20000000) > #use rs232(baud=9600,parity=n,bits=8,xmit=PIN_C6,rcv=PIN_C7) > #fuses HS,NOWDT,PUT,NOLVP,NOBROWNOUT > > Curt > _______________________________________________ > WheelWatcher mailing list > WheelWatcher@list.nubotics.com > http://list.nubotics.com/mailman/listinfo/wheelwatcher > From cma189@psu.edu Thu Apr 9 10:40:04 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 97183C82EE for ; Thu, 9 Apr 2009 10:40:04 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id BcjdMixImjAr for ; Thu, 9 Apr 2009 10:40:03 -0700 (PDT) Received: from f04n07.cac.psu.edu (f04s07.cac.psu.edu [128.118.141.35]) by mercury.localdomain (Postfix) with ESMTP id 96703C8281 for ; Thu, 9 Apr 2009 10:40:02 -0700 (PDT) Received: from tr22n02.aset.psu.edu (tr22g02.aset.psu.edu [146.186.16.12]) by f04n07.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n39HfFGL095320 for ; Thu, 9 Apr 2009 13:41:15 -0400 Received: (from cma189@localhost) by tr22n02.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n39HfEHN954578; Thu, 9 Apr 2009 13:41:14 -0400 Date: Thu, 9 Apr 2009 13:41:14 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 128.118.230.57 Message-Id: <1239298874l.1400918l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 17:40:04 -0000 Pete, With #define LEFT_CLK_ON_TIMER_1 uncommented the output on b1 and b2 is just a high voltage level. with it commented out I do get the proper high time and period. Curt From plskeggs@noeticdesign.com Thu Apr 9 12:44:23 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 8A256C82EE for ; Thu, 9 Apr 2009 12:44:23 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id BNfJU1IxivFE for ; Thu, 9 Apr 2009 12:44:23 -0700 (PDT) Received: from [192.168.0.6] (titan.noeticdesign.com [192.168.0.6]) by mercury.localdomain (Postfix) with ESMTP id 0199FC826C for ; Thu, 9 Apr 2009 12:44:22 -0700 (PDT) Message-ID: <49DE5064.7040202@noeticdesign.com> Date: Thu, 09 Apr 2009 12:45:40 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239298874l.1400918l.0l@psu.edu> In-Reply-To: <1239298874l.1400918l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 19:44:23 -0000 Curt, Well, if you have the correct timing on the servo control pulses, they should turn. If they don't, I can't see how it could be a problem with my example code. Double check the voltage across the supply lines to the servos. Do you have any other mechanism to test the servos to make sure they're ok? A BasicStamp, a servo tester, etc.? -Pete CURTIS M ARMER wrote: > Pete, > > With #define LEFT_CLK_ON_TIMER_1 uncommented the output on b1 and b2 is just a > high voltage level. with it commented out I do get the proper high time and > period. > > Curt From cma189@psu.edu Thu Apr 9 13:00:08 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 5CD3CC8281 for ; Thu, 9 Apr 2009 13:00:08 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id 3SeRfXEmxO0h for ; Thu, 9 Apr 2009 13:00:07 -0700 (PDT) Received: from f04n01.cac.psu.edu (f04s01.cac.psu.edu [128.118.141.31]) by mercury.localdomain (Postfix) with ESMTP id 07E3AC8082 for ; Thu, 9 Apr 2009 13:00:06 -0700 (PDT) Received: from tr22n02.aset.psu.edu (tr22g02.aset.psu.edu [146.186.16.12]) by f04n01.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n39K1IMX127304 for ; Thu, 9 Apr 2009 16:01:19 -0400 Received: (from cma189@localhost) by tr22n02.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n39K1IMv532636; Thu, 9 Apr 2009 16:01:18 -0400 Date: Thu, 9 Apr 2009 16:01:18 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 128.118.230.57 Message-Id: <1239307278l.2211880l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 20:00:08 -0000 Pete, Yes I have already checked the servos with a different controller and they work fine. I have re-checked the voltages on servos. If I change over to the PIC18 and use the internal oscillator what changes to timers would be needed if I am using the internal 8mhz oscillator? I beleive the pinout on the 18F4520 is the same so it should be a drop in replacement. Curt From plskeggs@noeticdesign.com Thu Apr 9 16:35:37 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 7A648C82EE for ; Thu, 9 Apr 2009 16:35:37 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id CpkjCEhLbFhA for ; Thu, 9 Apr 2009 16:35:36 -0700 (PDT) Received: from [192.168.0.6] (titan.noeticdesign.com [192.168.0.6]) by mercury.localdomain (Postfix) with ESMTP id B7D1FC826C for ; Thu, 9 Apr 2009 16:35:36 -0700 (PDT) Message-ID: <49DE8696.6010107@noeticdesign.com> Date: Thu, 09 Apr 2009 16:36:54 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239307278l.2211880l.0l@psu.edu> In-Reply-To: <1239307278l.2211880l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 09 Apr 2009 23:35:37 -0000 Curt, You're welcome to try tackling that, but I'm afraid I don't have the time to do this for you. If you need further help with the existing example, let me know. -Pete CURTIS M ARMER wrote: > Pete, > Yes I have already checked the servos with a different controller and they work > fine. I have re-checked the voltages on servos. If I change over to the PIC18 > and use the internal oscillator what changes to timers would be needed if I am > using the internal 8mhz oscillator? I beleive the pinout on the 18F4520 is the > same so it should be a drop in replacement. > > Curt > From plskeggs@noeticdesign.com Fri Apr 10 09:30:23 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 8EECBC83FB for ; Fri, 10 Apr 2009 09:30:23 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id 34EoW884mVRp for ; Fri, 10 Apr 2009 09:30:22 -0700 (PDT) Received: from [192.168.2.19] (home.noeticdesign.com [66.78.76.138]) (using TLSv1 with cipher DHE-RSA-AES256-SHA (256/256 bits)) (No client certificate requested) by mercury.localdomain (Postfix) with ESMTPSA id 35943C8082 for ; Fri, 10 Apr 2009 09:30:21 -0700 (PDT) Message-ID: <49DF7466.2030508@noeticdesign.com> Date: Fri, 10 Apr 2009 09:31:34 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239292909l.979038l.0l@psu.edu> In-Reply-To: <1239292909l.979038l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Fri, 10 Apr 2009 16:30:23 -0000 Curt - I just re-read your earlier email and noticed something I missed before. If the servos move in opposite directions forever when LEFT_CLK_ON_TIMER_1 is commented out, that probably means your servos are not calibrated (a pulse width of 1.5ms on their control pins does not result in zero motion). Do the servos have a pot (variable resistor) for setting the neutral position? If so, run the ZERO_SERVOS code and adjust each pot until the servo stops moving. If the servos do not have an adjustment, then you'll need to change the code to have different values for CENTER_PERIOD for left and right servos, and will need to experiment to find the values which cause the motors to not spin. Without zeroing the servos, you won't be able to control speed and direction of rotation. This is a standard thing one has to do with any servo-based robot. Also, remember that if you have LEFT_CLK_ON_TIMER_1 commented, the Left WW-01 clock line should connect to pin B0, but if it is uncommented, the clock line should connect to pin C0. What kind of board are you using, btw? A custom PIC board, or a Mark III, or what? What other connections are there on this board between the various pins (Bx and Cx)? -Pete CURTIS M ARMER wrote: > Pete > The motors will not move for any test as long as I have the #define > LEFT_CLK_ON_TIMER_1 uncommented. If I comment it out then the servos move in > oppisite directions forever as soon as device is programmed. > From cma189@psu.edu Fri Apr 10 10:30:53 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 0969DC83FB for ; Fri, 10 Apr 2009 10:30:53 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id VkqdHc+tksJg for ; Fri, 10 Apr 2009 10:30:51 -0700 (PDT) Received: from f05n03.cac.psu.edu (f05s03.cac.psu.edu [128.118.141.46]) by mercury.localdomain (Postfix) with ESMTP id 8A564C8082 for ; Fri, 10 Apr 2009 10:30:50 -0700 (PDT) Received: from tr22n02.aset.psu.edu (tr22g02.aset.psu.edu [146.186.16.12]) by f05n03.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n3AHW0ON288758 for ; Fri, 10 Apr 2009 13:32:01 -0400 Received: (from cma189@localhost) by tr22n02.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n3AHW0sW577708; Fri, 10 Apr 2009 13:32:00 -0400 Date: Fri, 10 Apr 2009 13:32:00 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 128.118.186.254 Message-Id: <1239384720l.593928l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Fri, 10 Apr 2009 17:30:53 -0000 Pete, Ok, I went through rechecking all wiring, voltages and replaced crystal with brand new one with new decoupling capacitors and replaced with a new 16f877. Everything looks checks out fine. But still have same problem motors do not turn with the #define LEFT_CLK_ON_TIMER_1 in the program. How do you recommend going about troubleshooting the program? Thanks. Curt From plskeggs@noeticdesign.com Fri Apr 10 10:41:17 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 682B2C8407 for ; Fri, 10 Apr 2009 10:41:17 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id BnliX8Pu5XFr for ; Fri, 10 Apr 2009 10:41:16 -0700 (PDT) Received: from [192.168.0.6] (titan.noeticdesign.com [192.168.0.6]) by mercury.localdomain (Postfix) with ESMTP id 5DB5DC826C for ; Fri, 10 Apr 2009 10:41:15 -0700 (PDT) Message-ID: <49DF8509.3070308@noeticdesign.com> Date: Fri, 10 Apr 2009 10:42:33 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239384720l.593928l.0l@psu.edu> In-Reply-To: <1239384720l.593928l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Fri, 10 Apr 2009 17:41:17 -0000 Curt, Since you got the correct servo control pulses with LEFT_CLK_ON_TIMER_1 commented out, use that setting. Did you see my previous email? I asked some questions regarding what kind of board you are using and what connections, if any, are made to the Bx and Cx ports. -Pete CURTIS M ARMER wrote: > Pete, > Ok, I went through rechecking all wiring, voltages and replaced crystal with > brand new one with new decoupling capacitors and replaced with a new 16f877. > Everything looks checks out fine. But still have same problem motors do not > turn with the #define LEFT_CLK_ON_TIMER_1 in the program. How do you recommend > going about troubleshooting the program? Thanks. > > Curt > _______________________________________________ > WheelWatcher mailing list > WheelWatcher@list.nubotics.com > http://list.nubotics.com/mailman/listinfo/wheelwatcher > From cma189@psu.edu Fri Apr 10 10:50:42 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.localdomain (Postfix) with ESMTP id 260B6C8407 for ; Fri, 10 Apr 2009 10:50:42 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.localdomain ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id vOFAmAYXyU8Z for ; Fri, 10 Apr 2009 10:50:41 -0700 (PDT) Received: from f04n01.cac.psu.edu (f04s01.cac.psu.edu [128.118.141.31]) by mercury.localdomain (Postfix) with ESMTP id 050E2C8257 for ; Fri, 10 Apr 2009 10:50:40 -0700 (PDT) Received: from tr22n02.aset.psu.edu (tr22g02.aset.psu.edu [146.186.16.12]) by f04n01.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n3AHppmC104610 for ; Fri, 10 Apr 2009 13:51:51 -0400 Received: (from cma189@localhost) by tr22n02.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n3AHppp21253616; Fri, 10 Apr 2009 13:51:51 -0400 Date: Fri, 10 Apr 2009 13:51:51 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 128.118.186.254 Message-Id: <1239385911l.1532068l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Fri, 10 Apr 2009 17:50:42 -0000 Pete, Sorry, I must have missed the previous email. I am using a custom made board. Its just a regular protoboard with the PIC soldered on along with the servo and programing headers and wires used for interfacing with the encoders. Currently right now the only thing connected to port c and port b is just what is needed for the oscillator, encoder/ servo lines. Curt From peters@noeticdesign.com Wed Apr 15 13:46:15 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.noeticdesign.com (Postfix) with ESMTP id 78FF1C8544 for ; Wed, 15 Apr 2009 13:46:15 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.noeticdesign.com ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id RuNHWJMTKG7A for ; Wed, 15 Apr 2009 13:46:14 -0700 (PDT) Received: from [192.168.0.6] (titan.noeticdesign.com [192.168.0.6]) by mercury.noeticdesign.com (Postfix) with ESMTP id E2DDAC8520 for ; Wed, 15 Apr 2009 13:46:14 -0700 (PDT) Message-ID: <49E647DA.8060609@noeticdesign.com> Date: Wed, 15 Apr 2009 13:47:22 -0700 From: peters User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239385911l.1532068l.0l@psu.edu> In-Reply-To: <1239385911l.1532068l.0l@psu.edu> Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit X-Mailman-Approved-At: Wed, 15 Apr 2009 13:47:40 -0700 Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Wed, 15 Apr 2009 20:46:15 -0000 Curt, I hooked a PIC 16F877 board (a Junun MarkIII board) back up, and tried my example program using Parallax servos. It exhibited some behavior that sounds similar to what you see. Other than small errors in zeroing the servos, they do spin when requested by the various tests. This behavior is that a wheel spins when it is not supposed to. This is because the servo is not properly adjusted, so the 1.5ms neutral pulse width causes it to spin slowly. Since the Parallax servos do not have an adjustment potentiometer, my example program would need to change to allow you to set the neutral pulse width of each wheel separately. It would also need to add a way for you to interactively find the correct neutral pulse width. I may add these features to it. Meanwhile, have you had any progress? -Pete From jronald@chartermi.net Wed Apr 15 19:17:14 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.noeticdesign.com (Postfix) with ESMTP id B311AC8424 for ; Wed, 15 Apr 2009 19:17:14 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.noeticdesign.com ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id GMYOIPQtCxaE for ; Wed, 15 Apr 2009 19:17:13 -0700 (PDT) X-Greylist: delayed 1120 seconds by postgrey-1.31 at mercury; Wed, 15 Apr 2009 19:17:12 PDT Received: from que11.charter.net (que11.charter.net [209.225.8.21]) by mercury.noeticdesign.com (Postfix) with ESMTP id 019E1C840E for ; Wed, 15 Apr 2009 19:17:12 -0700 (PDT) Received: from imp11 ([10.20.200.11]) by mta11.charter.net (InterMail vM.7.09.01.00 201-2219-108-20080618) with ESMTP id <20090416015614.BAYO21265.mta11.charter.net@imp11> for ; Wed, 15 Apr 2009 21:56:14 -0400 Received: from jrxpc ([66.227.253.41]) by imp11 with charter.net id g1wE1b00A0uMbk2051wEcg; Wed, 15 Apr 2009 21:56:14 -0400 Message-ID: From: "Jim Ronald" To: "WW-01/WW-02 WheelWatcher Encoder Support List" References: <1239385911l.1532068l.0l@psu.edu> <49E647DA.8060609@noeticdesign.com> In-Reply-To: <49E647DA.8060609@noeticdesign.com> Date: Wed, 15 Apr 2009 21:56:20 -0400 MIME-Version: 1.0 Content-Type: text/plain; format=flowed; charset="iso-8859-1"; reply-type=response Content-Transfer-Encoding: 7bit X-Priority: 3 X-MSMail-Priority: Normal X-Mailer: Microsoft Windows Mail 6.0.6001.18000 X-MimeOLE: Produced By Microsoft MimeOLE V6.0.6001.18049 Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 16 Apr 2009 02:17:14 -0000 Parallax servos do have an adjustment potentiometer. ----- Original Message ----- From: "peters" To: "WW-01/WW-02 WheelWatcher Encoder Support List" Sent: Wednesday, April 15, 2009 4:47 PM Subject: Re: [WheelWatcher] WW-01 Code > Curt, > > I hooked a PIC 16F877 board (a Junun MarkIII board) back up, and tried my > example program using Parallax servos. It exhibited some behavior that > sounds similar to what you see. Other than small errors in zeroing the > servos, they do spin when requested by the various tests. > > This behavior is that a wheel spins when it is not supposed to. This is > because the servo is not properly adjusted, so the 1.5ms neutral pulse > width causes it to spin slowly. Since the Parallax servos do not have an > adjustment potentiometer, my example program would need to change to allow > you to set the neutral pulse width of each wheel separately. It would > also need to add a way for you to interactively find the correct neutral > pulse width. > > I may add these features to it. Meanwhile, have you had any progress? > > -Pete > > _______________________________________________ > WheelWatcher mailing list > WheelWatcher@list.nubotics.com > http://list.nubotics.com/mailman/listinfo/wheelwatcher From plskeggs@noeticdesign.com Wed Apr 15 19:33:26 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.noeticdesign.com (Postfix) with ESMTP id 558E1C8424 for ; Wed, 15 Apr 2009 19:33:26 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.noeticdesign.com ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id WnoedbQBq1ZF for ; Wed, 15 Apr 2009 19:33:25 -0700 (PDT) Received: from [192.168.1.49] (home.noeticdesign.com [66.78.76.138]) (using TLSv1 with cipher DHE-RSA-AES256-SHA (256/256 bits)) (No client certificate requested) by mercury.noeticdesign.com (Postfix) with ESMTPSA id 408D2C8257 for ; Wed, 15 Apr 2009 19:33:24 -0700 (PDT) Message-ID: <49E69934.5080907@noeticdesign.com> Date: Wed, 15 Apr 2009 19:34:28 -0700 From: Pete Skeggs User-Agent: Thunderbird 2.0.0.21 (Windows/20090302) MIME-Version: 1.0 To: WW-01/WW-02 WheelWatcher Encoder Support List References: <1239385911l.1532068l.0l@psu.edu> <49E647DA.8060609@noeticdesign.com> In-Reply-To: Content-Type: text/plain; charset=ISO-8859-1; format=flowed Content-Transfer-Encoding: 7bit Subject: Re: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 16 Apr 2009 02:33:26 -0000 Jim, Well, what do you know? You're right! I had mistakenly convinced myself otherwise, but indeed, when I opened up a Parallax servo, there was a pot. Bravo. So, Curt should be able to do the same, then adjust the pots to make the wheels stop spinning when in zero servos mode. It would be helpful to drill a small hole in the case opposite the pot so that you can adjust it later, rather than having to dismantle the robot each time. -Pete Jim Ronald wrote: > Parallax servos do have an adjustment potentiometer. From cma189@psu.edu Thu Apr 16 14:03:03 2009 Return-Path: Received: from localhost (localhost [127.0.0.1]) by mercury.noeticdesign.com (Postfix) with ESMTP id 42D0CC83B7 for ; Thu, 16 Apr 2009 14:03:03 -0700 (PDT) X-Virus-Scanned: Debian amavisd-new at mail.noeticdesign.com Received: from mercury.noeticdesign.com ([127.0.0.1]) by localhost (mercury.noeticdesign.com [127.0.0.1]) (amavisd-new, port 10024) with ESMTP id IIQh3lXURKdl for ; Thu, 16 Apr 2009 14:03:02 -0700 (PDT) Received: from f04n01.cac.psu.edu (f04s01.cac.psu.edu [128.118.141.31]) by mercury.noeticdesign.com (Postfix) with ESMTP id EECA7C82ED for ; Thu, 16 Apr 2009 14:03:01 -0700 (PDT) Received: from tr22n02.aset.psu.edu (tr22g02.aset.psu.edu [146.186.16.12]) by f04n01.cac.psu.edu (8.13.2/8.13.2) with ESMTP id n3GL40xM115834 for ; Thu, 16 Apr 2009 17:04:01 -0400 Received: (from cma189@localhost) by tr22n02.aset.psu.edu (AIX5.3/8.13.4/8.11.0) id n3GL40Ch737370; Thu, 16 Apr 2009 17:04:00 -0400 Date: Thu, 16 Apr 2009 17:04:00 -0400 To: wheelwatcher@list.nubotics.com From: "CURTIS M ARMER" X-Mailer: Penn State WebMail 2.2.6 X-Sender: cma189 X-Originating-IP: 128.118.184.45 Message-Id: <1239915840l.1114326l.0l@psu.edu> MIME-Version: 1.0 X-Virus-Scanned: by amavisd-new Content-Type: text/plain; charset=utf-8 X-Content-Filtered-By: Mailman/MimeDel 2.1.11a-pls Subject: [WheelWatcher] WW-01 Code X-BeenThere: wheelwatcher@list.nubotics.com X-Mailman-Version: 2.1.11a-pls Precedence: list Reply-To: WW-01/WW-02 WheelWatcher Encoder Support List List-Id: WW-01/WW-02 WheelWatcher Encoder Support List List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , X-List-Received-Date: Thu, 16 Apr 2009 21:03:03 -0000 Pete, Well I havent made any progress. My parallax servos do have a hole in them for adjusting. But even after adjusting I still cant get anything to turn when going through the tests. I think I just may go and buy the markIII board. I dont know if the compiler version matters or not. I used the servo driver in ccs to test servos to maksure they work. And in that little servo program they worked. Could you tell me what you have changed in your code, just incase I am justing missing a simple setting. Thanks Curt